CN113349929B - Spatial positioning system for locking holes in the distal end of intramedullary nails - Google Patents

Abstract

The present invention provides a spatial positioning system and method for a distal locking hole of an intramedullary nail. The system includes an optical fiber, an optical fiber sensing demodulator, a binocular camera, a guide and an intramedullary nail, wherein: the optical fiber is used for Measuring the deformation state of the intramedullary nail after being inserted into the medullary cavity, the first end of the optical fiber is inserted and fixed into the hollow inner core of the intramedullary nail, and the first end of the optical fiber is adjacent to the distal locking hole of the intramedullary nail, The second end of the optical fiber is connected to the input end of the optical fiber sensor demodulator; the optical fiber sensor demodulator is used to obtain the target pose of the distal locking hole in the optical fiber global coordinate system after the intramedullary nail is inserted into the medullary cavity, and the optical fiber global coordinate The system is determined based on the proximal end of the intramedullary nail; the binocular camera is used to convert the target pose and guide pose to the binocular camera coordinate system to obtain the relationship between the distal locking hole and the guide after the intramedullary nail is inserted into the medullary cavity. Relative spatial positioning. The invention has the advantages of no electromagnetic interference and strong robustness, and can more accurately locate the position of the locking hole at the distal end of the intramedullary needle.

Description

Spatial positioning system for distal locking hole of intramedullary nail

technical field

The invention relates to the technical field of medical instruments, in particular to a space positioning system and method for a locking hole at the distal end of an intramedullary nail.

Background technique

Modern intramedullary nails are mostly interlocking intramedullary nails, that is, at both ends of the intramedullary nail, screws are screwed in according to preset multiple directions, so that the screws pass through the reserved nail holes on the main nail to form a stable fixed structure . However, after the intramedullary nail is inserted into the medullary cavity, it will deform due to the incomplete match with the shape of the medullary cavity, causing the intramedullary nail to bend in an unpredictable way, making it difficult to determine the multi-directional interlocking locking hole at the distal end of the main nail Location.

The current conventional methods for positioning the locking hole of the intramedullary nail mainly use X-ray direct fluoroscopic imaging, or use electromagnetic/permanent magnets to track and locate the position of the multi-directional interlocking locking hole at the distal end of the intramedullary nail. However, X-ray-based fluoroscopy navigation has the problem of high radiation dose to medical staff and patients; while the most important field generator in the existing electromagnetic navigation navigation equipment needs to directly contact the patient, the preoperative setting is cumbersome and strict disinfection is required. defect. How to improve the success rate of locking the distal end of the intramedullary nail, simplify the operation and equipment settings, and reduce the operation cost and radiation radiation is of great practical significance.

Therefore, there is an urgent need for a spatial positioning system and method for the locking hole at the distal end of the intramedullary nail to solve the above problems.

Contents of the invention

Aiming at the problems existing in the prior art, the present invention provides a space positioning system and method for the locking hole at the distal end of the intramedullary nail.

The present invention provides a space positioning system for the locking hole of the distal end of the intramedullary nail, including an optical fiber, an optical fiber sensor demodulator, a binocular camera, a guide and an intramedullary nail, wherein:

The optical fiber is used to measure the deformation state of the intramedullary nail after being inserted into the medullary cavity, the first end of the optical fiber is inserted and fixed into the hollow inner core of the intramedullary nail, and the first end of the optical fiber The end is close to the distal locking hole of the intramedullary nail, and the second end of the optical fiber is connected to the input end of the optical fiber sensor demodulator;

The optical fiber sensor demodulator is used to obtain the target pose of the distal locking hole of the intramedullary nail inserted into the medullary cavity in the optical fiber global coordinate system, and the optical fiber global coordinate system is based on the intramedullary nail proximally determined;

A first optical marker and a second optical marker are set within the shooting range of the binocular camera for converting the target pose and guide pose into the binocular camera coordinate system to obtain the intramedullary nail The relative spatial positioning of the distal locking hole and the guide after being inserted into the medullary cavity, the first optical marker is set at the proximal end of the intramedullary nail, and the second optical marker is set at the guide surface; the pose of the guide is obtained by tracking the second optical marker through the binocular camera;

Wherein, a plurality of gratings are engraved in the optical fiber, and the optical fiber and the intramedullary nail are on the same central axis.

According to a spatial positioning system for the locking hole at the distal end of an intramedullary nail provided by the present invention, a catheter is arranged in the hollow inner core of the intramedullary nail, and the optical fiber is inserted through the catheter and fixed to the intramedullary nail The hollow inner core of the optical fiber, the intramedullary nail and the catheter are on the same central axis.

According to the spatial positioning system for the locking hole at the distal end of the intramedullary nail provided by the present invention, the proximal end of the catheter is provided with a scale.

According to the space positioning system for the locking hole of the distal end of the intramedullary nail provided by the present invention, the proximal end of the catheter and the proximal end of the intramedullary nail are fixedly connected through a fixed connecting piece.

According to the space positioning system for the locking hole at the distal end of the intramedullary nail provided by the present invention, the fixing connecting part is provided with an elastic knob.

According to the spatial positioning system for the locking hole at the distal end of the intramedullary nail provided by the present invention, the system further includes a display, and the binocular camera is connected to the display in communication.

The present invention also provides a spatial positioning method based on any of the above-mentioned spatial positioning systems for the locking hole at the distal end of the intramedullary nail, including:

Before the intramedullary nail is inserted into the medullary cavity, the initial position of the distal locking hole of the intramedullary nail in the optical fiber global coordinate system is obtained, and the optical fiber global coordinate system is determined based on the proximal end of the intramedullary nail;

After the intramedullary nail is inserted into the medullary cavity, the bending information of the optical fiber in the intramedullary nail is obtained through an optical fiber sensor demodulator, and the motion matrix of the distal locking hole is obtained according to the bending information;

According to the initial position and the motion matrix, obtain the target pose of the distal locking hole after the intramedullary nail is inserted into the medullary cavity in the optical fiber global coordinate system;

Based on the binocular camera, through the first optical marker and the second optical marker, the target pose and the guide pose are converted to the binocular camera coordinate system, and the distal end of the intramedullary nail is locked after being inserted into the medullary cavity The relative spatial positioning of the hole and the guide; the pose of the guide is obtained by tracking the second optical marker through the binocular camera, and the first optical marker is set on the intramedullary nail Proximally, the second optical marker is disposed on a surface of the guide.

According to a spatial positioning method for the locking hole at the distal end of the intramedullary nail provided by the present invention, after the intramedullary nail is inserted into the medullary cavity, the optical fiber sensor and demodulator of the intramedullary nail is used to obtain the position of the optical fiber in the intramedullary nail. Bending information, and obtaining the motion matrix of the distal locking hole according to the bending information, including:

Obtain the bending curvature and wavelength change of each grating node in the optical fiber through the optical fiber sensor demodulator;

Obtaining the curvature radius of each grating node according to the wavelength change amount and the bending curvature;

Fitting is performed according to the curvature radius and distribution position of each grating node to obtain the motion matrix of the distal locking hole.

The present invention also provides an electronic device, including a memory, a processor, and a computer program stored on the memory and operable on the processor. The steps of the spatial positioning method of the locking hole at the distal end of the inner nail.

The present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the spatial positioning of the locking hole at the distal end of the intramedullary nail can be realized as described in any one of the above. method steps.

The space positioning system and method for the locking hole at the distal end of the intramedullary nail provided by the present invention, compared with the prior art, has the advantages of no electromagnetic interference and strong robustness, and can more accurately locate the locking hole at the distal end of the intramedullary nail Location.

Description of drawings

In order to more clearly illustrate the present invention or the technical solutions in the prior art, the accompanying drawings that need to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings in the following description are the present invention. For some embodiments of the invention, those skilled in the art can also obtain other drawings based on these drawings without creative effort.

FIG. 1 is a schematic structural view of a spatial positioning system for locking holes at the distal end of an intramedullary nail provided by the present invention;

Fig. 2 is a schematic flowchart of the spatial positioning method for the locking hole at the distal end of the intramedullary nail provided by the present invention;

Fig. 3 is a schematic structural diagram of an electronic device provided by the present invention.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the present invention. Obviously, the described embodiments are part of the embodiments of the present invention , but not all examples. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

The existing positioning schemes for the locking hole at the distal end of the intramedullary nail mainly include the following: 1. X-ray fluoroscopy imaging. This method can directly observe the position of the locking hole at the distal end of the intramedullary nail through perspective, which is the most common method in clinical practice. However, X-ray fluoroscopy imaging has a large amount of radiation to doctors and patients, which will cause interruption of the operation process, and requires high operating skills of doctors; 2. Electromagnetic/permanent magnet positioning, this method fixes the electromagnetic sensor or permanent magnet sensor on the distal end of the intramedullary nail Near the locking hole, it is not affected by the deformation of the intramedullary nail. The position of the multi-directional interlocking locking hole can be precisely positioned by detecting the position of the electromagnetic sensor/permanent magnet sensor through the electromagnetic field. However, the positioning of the electromagnetic/permanent magnet is easily interfered by the surrounding ferromagnetic materials , requires electromagnetic compatible intramedullary nails, drill bits and other related accessories, the working environment is harsh, and the cost is high; 3. Mechanical positioning. The multi-directional interlocking locking hole at the distal end, due to unpredictable deformation, this method often causes difficulty in locking. Even if some products use additional drilling, the frame structure is adjusted by detecting the distal position of the intramedullary nail through the pressure rod, and the failure rate is still high. High, and the plan to adjust the design also needs to make additional incisions on the patient and drill additional holes in the bone, causing additional injuries.

In the present invention, the optical fiber sensor can be partially inserted into the inner core of the hollow intramedullary nail, so that it stays at the preset position of the distal end of the intramedullary nail, and then the position of the multi-directional interlocking locking hole at the extension of the distal end of the optical fiber sensor can be accurately determined . It should be noted that the distal end mentioned in the present invention refers to the end where the optical fiber or the intramedullary nail enters the medullary cavity; the proximal end refers to the end where the optical fiber or the intramedullary nail stays outside the medullary cavity.

Fig. 1 is a structural schematic diagram of the spatial positioning system for the locking hole at the distal end of the intramedullary nail provided by the present invention. As shown in Fig. 1, the present invention provides a spatial positioning system for the locking hole at the distal end of the intramedullary nail, Including optical fiber 101, optical fiber sensor demodulator 102, binocular camera 103 guide 104 and intramedullary nail 105, wherein:

The optical fiber 101 is used to measure the deformation state of the intramedullary nail 105 after being inserted into the medullary cavity, the first end of the optical fiber 101 is inserted and fixed into the hollow inner core of the intramedullary nail 105, and the The first end of the optical fiber 101 is close to the distal locking hole 106 of the intramedullary nail 105 , and the second end of the optical fiber 101 is connected to the input end of the optical fiber sensor demodulator 102 .

In the present invention, before the intramedullary nail is inserted into the medullary cavity, the first end of the optical fiber 101 is pre-fixed and arranged in the hollow inner core of the intramedullary nail. Optionally, a catheter is arranged in the hollow inner core of the intramedullary nail 105 109, the optical fiber 101 is inserted through the catheter 109 and fixed to the hollow inner core of the intramedullary nail 105, the optical fiber 101, the intramedullary nail 105 and the catheter 109 are on the same central axis, so that the optical fiber The first end of 101 is fixed in intramedullary nail 105 through catheter 109 .

The output end of the optical fiber sensor demodulator 102 is connected to the binocular camera 103 for obtaining the target position of the distal locking hole 106 in the optical fiber global coordinate system after the intramedullary nail 105 is inserted into the medullary cavity. The global coordinate system of the optical fiber is determined based on the proximal end of the intramedullary nail 105 .

In the present invention, based on the bending information of the optical fiber 101 along with the intramedullary nail 105 in the medullary cavity, the target position of the distal locking hole 106 of the intramedullary nail 105 in the optical fiber global coordinate system is obtained through the optical fiber sensor demodulator 102 posture.

A first optical marker 107 and a second optical marker 108 are arranged within the shooting range of the binocular camera 103 for converting the target pose and the guider pose into a binocular camera coordinate system to obtain the After the intramedullary nail 105 is inserted into the medullary cavity, the relative spatial positioning of the distal locking hole 106 and the guide 104, the first optical marker 107 is set at the proximal end of the intramedullary nail 105, and the second optical The marker 108 is arranged on the surface of the guide 104; the pose of the guide is obtained by tracking the second optical marker 108 through the binocular camera 103;

Wherein, the optical fiber 101 is engraved with a plurality of gratings, and the optical fiber 101 and the intramedullary nail 105 are on the same central axis.

In the present invention, the binocular camera 103 obtains the conversion matrix between the optical fiber global coordinate system and the first optical marker coordinate system through calibration; in addition, as shown in FIG. 1, the second optical marker and the guide 104 can be set The surface is fixedly connected, and the pose of the guide 104 in the second optical marker coordinate system can be obtained through calibration. After the intramedullary nail 105 is inserted into the medullary cavity, the binocular camera 103 can track the first optical marker and the second optical marker in real time, so that the position and posture of the locking hole 106 at the distal end of the intramedullary nail 105 and the position of the guide 104 can be determined. The pose is transformed into the binocular camera coordinate system in real time, so as to navigate the locking of the locking hole 106 at the distal end of the intramedullary nail 105 in real time.

Compared with the prior art, the spatial positioning system for the locking hole at the distal end of the intramedullary nail provided by the present invention has the advantages of no electromagnetic interference and strong robustness, and can more accurately locate the locking hole at the distal end of the intramedullary nail.

In one embodiment, as shown in FIG. 1 , an optical fiber 101 engraved with multiple grating sensors is integrated in a guide tube 109, and then inserted into the hollow inner core of an intramedullary nail 105. Optionally, the proximal end of the guide tube 109 The optical fiber 101 and the proximal end of the intramedullary nail 105 are fixedly connected through the fixed connector 110, and the optical fiber 101 and the intramedullary nail 105 are relatively fixed through the fixed connector 110. It should be noted that the catheter 109 is used to accommodate the optical fiber 101 engraved with multiple grating sensors, and its outer diameter matches the hollow inner core of the intramedullary nail 105 (that is, the outer diameter of the catheter 109 is as close as possible to the diameter of the hollow inner core of the intramedullary nail 105, And the outer diameter of the conduit 109 is smaller than the diameter of the hollow inner core).

Further, the catheter 109 is inserted into the hollow inner core of the intramedullary nail 105, placed in the intramedullary nail 105, and any locking hole in the multi-directional interlocking of the distal end is used as a reference locking hole, so that the reference locking hole and the distal end of the catheter 109 maintain preset distance. Wherein, the catheter 109 and the built-in optical fiber 101 change with the shape of the intramedullary nail 105, so that the central axis of the catheter 109, the optical fiber 101 and the intramedullary nail 105 remain consistent. In the present invention, the distal end of the catheter 109 is closed, and the proximal end section is a non-standard shape. Optionally, the proximal end of the catheter 109 is provided with a scale. Specifically, in one embodiment, the scale is engraved with The mark with a length of 10cm and a resolution of 10mm can identify and adjust the depth of insertion of the catheter 109 into the intramedullary nail 105, and is used to ensure that the distal end of the catheter stays in the intramedullary nail of different lengths. The nail is the same (that is, the same preset distance between the reference locking hole and the distal end of the catheter is maintained), and then the position of the multi-directional interlocking locking hole at the distal end of the intramedullary nail is calculated based on the calculated shape of the optical fiber. In the present invention, the fixed connector 110 is used to fix the catheter 109 and the intramedullary nail 105 at the proximal end of the intramedullary nail 105. Optionally, the fixed connector 110 is provided with a tightening knob, which is controlled by adjusting the tightness of the knob. The catheter 109 can be fastened after being inserted into the intramedullary nail 105 to a specified length.

因为髓内钉105插入狭窄的骨骼内时，髓内钉105以及内部的光纤 101会产生弯曲，所以远端锁定孔106会偏离原来的初始位置。通过光纤传感，精确测量远端锁定孔106在其横截面平面内的运动矩阵 T_Deform，即可获得髓内钉105弯曲后的远端锁定孔106在光纤全局坐标系中的位置

Within the shooting range of the binocular camera 103, a first optical marker and a second optical marker are set, wherein the optical fiber global coordinate system is located at the proximal end of the intramedullary nail 105; before the intramedullary nail 105 enters the medullary cavity, the binocular The camera 103 acquires the initial position of the locking hole 106 at the distal end of the intramedullary nail 105 in the optical fiber global coordinate system by marking the first optical marker

Because the intramedullary nail 105 and the inner optical fiber 101 will be bent when the intramedullary nail 105 is inserted into the narrow bone, the distal locking hole 106 will deviate from the original initial position. Through optical fiber sensing, the motion matrix T _Deform of the distal locking hole 106 in its cross-sectional plane can be accurately measured to obtain the position of the distal locking hole 106 in the optical fiber global coordinate system after the intramedullary nail 105 is bent

第二光学标记物与导向器104固定，通过双目相机103实时获得导向器104 的跟踪位置和方向，通过标定可获得导向器坐标系至第二光纤标记物的转换矩阵

It should be noted that the first optical marker 107 is fixed on the fixed connector 107 (if there is no fixed connector 107, the first optical marker 107 is directly fixed at the proximal end of the intramedullary nail 105), and the optical fiber The global coordinate system remains relatively fixed, and the conversion matrix from the optical fiber global coordinate system to the first optical marker coordinate system can be calibrated

The second optical marker is fixed with the guide 104, and the tracking position and direction of the guide 104 are obtained in real time through the binocular camera 103, and the conversion matrix from the coordinate system of the guide to the second optical fiber marker can be obtained through calibration

Therefore, the position of the locking hole at the distal end of the intramedullary nail is transformed into the binocular camera coordinate system by formula 1:

Transform the position of the guide tip into the binocular camera coordinate system by formula 2:

According to the real-time calculation of the relative posture change between the locking hole at the distal end of the intramedullary nail and the guide tip and displaying it on the display 111, the locking of the locking hole at the distal end of the intramedullary nail can be navigated in real time, wherein the binocular camera 103 and The display 111 is connected in communication.

The fiber grating sensor of the present invention is placed in the hollow inner core of the intramedullary nail. When positioning the locking hole at the distal end of the intramedullary nail, it will not be disturbed by the electromagnetic environment, and has strong robustness, and because it does not contain electricity, the safety is greatly improved. Improve and reduce the radiation dose and operation time of the operation.

Fig. 2 is a schematic flowchart of the spatial positioning method for the locking hole at the distal end of the intramedullary nail provided by the present invention. As shown in Fig. 2, the present invention provides a locking hole for the distal end of the intramedullary nail based on the above embodiment The spatial positioning method of the spatial positioning system, including:

Step 201, before the intramedullary nail is inserted into the medullary cavity, the initial position of the distal locking hole of the intramedullary nail in the optical fiber global coordinate system is obtained, and the optical fiber global coordinate system is determined based on the proximal end of the intramedullary nail of.

In the present invention, before the intramedullary nail enters the medullary cavity, the binocular camera obtains the initial position of the locking hole at the distal end of the intramedullary nail in the optical fiber global coordinate system by calibrating the first optical marker

Step 202, after the intramedullary nail is inserted into the medullary cavity, obtain the bending information of the optical fiber in the intramedullary nail through the optical fiber sensor demodulator, and obtain the motion matrix of the distal locking hole according to the bending information;

Step 203, according to the initial position and the motion matrix, obtain the target pose of the locking hole at the distal end of the intramedullary nail inserted into the medullary cavity in the global coordinate system of the optical fiber.

In the present invention, when the intramedullary nail is inserted into the narrow bone, the intramedullary nail and the inner optical fiber will bend, causing the distal locking hole to deviate from the original initial position. Through optical fiber sensing, the motion matrix T _Deform of the distal locking hole in its cross-sectional plane can be accurately measured to obtain the position of the distal locking hole in the optical fiber global coordinate system after the intramedullary nail is bent

Step 204, based on the binocular camera, through the first optical marker and the second optical marker, transform the target pose and guide pose into the binocular camera coordinate system, and obtain the position of the intramedullary nail inserted into the medullary cavity The relative spatial positioning of the distal locking hole and the guide; the pose of the guide is obtained by tracking the second optical marker through the binocular camera, and the first optical marker is set on the At the proximal end of the inner nail, the second optical marker is disposed on the surface of the guide.

第二光学标记物与导向器固定，通过双目相机实时获得导向器的跟踪位置和方向，标定可获得导向器坐标系至第二光纤标记物的转换矩阵

进一步，根据上述转换矩阵，将目标位姿和导向器位姿转换到双目相机坐标系，通过公式一将髓内钉远端锁定孔位置转换到双目相机坐标系中：In the present invention, the first optical marker is fixed at the proximal end of the intramedullary nail and remains relatively fixed with the optical fiber global coordinate system, and the conversion matrix from the optical fiber global coordinate system to the first optical marker coordinate system can be obtained through calibration

The second optical marker is fixed with the guide, and the tracking position and direction of the guide can be obtained in real time through the binocular camera, and the conversion matrix from the coordinate system of the guide to the second optical fiber marker can be obtained through calibration

Further, according to the above transformation matrix, the target pose and the guide pose are transformed into the binocular camera coordinate system, and the position of the locking hole at the distal end of the intramedullary nail is transformed into the binocular camera coordinate system by formula 1:

Transform the position of the guide tip into the binocular camera coordinate system by formula 2:

The pose of the locking hole at the distal end of the intramedullary nail and the pose of the guide can be transformed into the binocular camera coordinate system in real time, and the locking of the locking hole at the distal end of the intramedullary nail can be navigated in real time.

Compared with the prior art, the spatial positioning method for the locking hole at the distal end of the intramedullary nail provided by the present invention has the advantages of no electromagnetic interference and strong robustness, and can more accurately locate the locking hole at the distal end of the intramedullary nail.

On the basis of the above embodiment, after the intramedullary nail is inserted into the medullary cavity, the bending information of the optical fiber in the intramedullary nail is obtained through the optical fiber sensor demodulator, and the distance is obtained according to the bending information. Kinematic matrix for end-lock holes, including:

S1. Obtain the bending curvature and wavelength change of each grating node in the optical fiber through the optical fiber sensor demodulator.

In the present invention, for each grating sensor, the optical fiber sensor demodulator first measures the wavelength of the optical fiber without bending as the base; The relationship between the curvature is fitted and calibrated, and the relationship between the bending curvature K of the grating sensor and the wavelength change Δλ is measured:

K=A·Δλ;

Among them, A is the calibrated coefficient.

S2. Obtain the curvature radius of each grating node according to the wavelength change amount and the bending curvature;

S3, performing fitting according to the curvature radius and distribution position of each grating node, to obtain a motion matrix of the distal locking hole.

In the present invention, a plurality of grating sensors in the optical fiber are distributed equidistantly. Using the above-mentioned relationship between the bending curvature K and the wavelength change amount Δλ, the curvature radius at each grating node can be calculated, and then the optical fiber can be recovered with the intramedullary nail. The corresponding curved shape when bent. The shape of the entire optical fiber in a two-dimensional plane can be restored in space by using the position distribution and curvature radius of each grating node to perform fitting.

After the optical fiber is inserted into the inner core of the intramedullary nail, the global coordinate system of the defined optical fiber is located at the proximal end of the intramedullary nail. When it is inserted, it will bend, and the distal locking hole will deviate from the original position. In order to realize the accurate spatial positioning of the distal locking hole, it is necessary to accurately measure the spatial movement of the distal locking hole. Under normal circumstances, the bending of the intramedullary nail when inserted into the medullary cavity is unidirectional, so the shape sensing of the optical fiber in the two-dimensional plane can be used to measure the locking hole at the distal end of the intramedullary nail in the global coordinate system of the optical fiber in real time. s position.

FIG. 3 is a schematic structural diagram of an electronic device provided by the present invention. As shown in FIG. 3 , the electronic device may include: a processor (processor) 301, a communication interface (Communications Interface) 302, a memory (memory) 303 and a communication bus 304, Wherein, the processor 301 , the communication interface 302 , and the memory 303 communicate with each other through the communication bus 304 . The processor 301 can call the logic instructions in the memory 303 to execute the spatial positioning method for the locking hole at the distal end of the intramedullary nail. The method includes: before the intramedullary nail is inserted into the medullary cavity, obtaining the distal end of the intramedullary nail The initial position of the locking hole in the optical fiber global coordinate system, which is determined based on the proximal end of the intramedullary nail; after the intramedullary nail is inserted into the medullary cavity, it is obtained by an optical fiber sensor demodulator the bending information of the optical fiber in the intramedullary nail, and obtain the motion matrix of the distal locking hole according to the bending information; according to the initial position and the motion matrix, obtain the position of the intramedullary nail inserted into the medullary cavity The target pose of the distal locking hole in the optical fiber global coordinate system; based on the binocular camera, through the first optical marker and the second optical marker, the target pose and the guider pose are converted to the binocular The camera coordinate system is used to obtain the relative spatial positioning of the distal locking hole and the guide after the intramedullary nail is inserted into the medullary cavity; the pose of the guide is obtained by tracking the second optical marker through the binocular camera Yes, the first optical marker is arranged at the proximal end of the intramedullary nail, and the second optical marker is arranged on the surface of the guide.

In addition, the above logic instructions in the memory 303 may be implemented in the form of software functional units and may be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the essence of the technical solution of the present invention or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes. .

On the other hand, the present invention also provides a computer program product, the computer program product includes a computer program stored on a non-transitory computer-readable storage medium, the computer program includes program instructions, and when the program instructions are executed by a computer During execution, the computer can execute the spatial positioning method for the locking hole at the distal end of the intramedullary nail provided by the above methods, the method includes: before the intramedullary nail is inserted into the medullary cavity, obtaining the locking hole at the distal end of the intramedullary nail The initial position in the optical fiber global coordinate system, which is determined based on the proximal end of the intramedullary nail; after the intramedullary nail is inserted into the medullary cavity, the optical fiber sensor demodulator is used to obtain the The bending information of the optical fiber in the intramedullary nail, and obtain the motion matrix of the distal locking hole according to the bending information; according to the initial position and the motion matrix, obtain the distal end of the intramedullary nail inserted into the medullary cavity Lock the target pose of the hole in the optical fiber global coordinate system; based on the binocular camera, through the first optical marker and the second optical marker, convert the target pose and the guider pose to the binocular camera coordinates After the intramedullary nail is inserted into the medullary cavity, the relative spatial positioning of the distal locking hole and the guide is obtained; the pose of the guide is obtained by tracking the second optical marker through the binocular camera, The first optical marker is disposed at the proximal end of the intramedullary nail, and the second optical marker is disposed on the surface of the guide.

In another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it is implemented to execute the methods for the distal end of the intramedullary nail provided by the above-mentioned embodiments. A spatial positioning method for a locking hole, the method includes: before the intramedullary nail is inserted into the medullary cavity, obtaining the initial position of the distal locking hole of the intramedullary nail in the optical fiber global coordinate system, the optical fiber global coordinate system is based on the The proximal end of the intramedullary nail is determined; after the intramedullary nail is inserted into the medullary cavity, the bending information of the optical fiber in the intramedullary nail is obtained through the optical fiber sensor demodulator, and the far end is obtained according to the bending information. The motion matrix of the end locking hole; according to the initial position and the motion matrix, obtain the target pose of the distal locking hole in the optical fiber global coordinate system after the intramedullary nail is inserted into the medullary cavity; based on the binocular camera , through the first optical marker and the second optical marker, the target pose and the guide pose are converted to the binocular camera coordinate system, and the distal locking hole and the guide are obtained after the intramedullary nail is inserted into the medullary cavity relative spatial positioning; the guide pose is obtained by tracking the second optical marker through the binocular camera, the first optical marker is set at the proximal end of the intramedullary nail, The second optical marker is disposed on the surface of the guide.

The device embodiments described above are only illustrative, and the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network elements. Part or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. It can be understood and implemented by those skilled in the art without any creative effort.

Through the above description of the implementations, those skilled in the art can clearly understand that each implementation can be implemented by means of software plus a necessary general hardware platform, and of course also by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the prior art can be embodied in the form of software products, and the computer software products can be stored in computer-readable storage media, such as ROM/RAM, magnetic discs, optical discs, etc., including several instructions to make a computer device (which may be a personal computer, server, or network device, etc.) execute the methods described in various embodiments or some parts of the embodiments.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still be Modifications are made to the technical solutions described in the foregoing embodiments, or equivalent replacements are made to some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims (8)

1. A spatial positioning system for the locking hole at the distal end of the intramedullary nail, characterized in that it includes an optical fiber, an optical fiber sensor demodulator, a binocular camera, a guide and an intramedullary nail, wherein: The optical fiber is used to measure the deformation state of the intramedullary nail after being inserted into the medullary cavity, the first end of the optical fiber is inserted and fixed into the hollow inner core of the intramedullary nail, and the first end of the optical fiber The end is close to the distal locking hole of the intramedullary nail, and the second end of the optical fiber is connected to the input end of the optical fiber sensor demodulator; The optical fiber sensor demodulator is used to obtain the target pose of the distal locking hole of the intramedullary nail inserted into the medullary cavity in the optical fiber global coordinate system, and the optical fiber global coordinate system is based on the intramedullary nail proximally determined; A first optical marker and a second optical marker are set within the shooting range of the binocular camera for converting the target pose and guide pose into the binocular camera coordinate system to obtain the intramedullary nail The relative spatial positioning of the distal locking hole and the guide after being inserted into the medullary cavity, the first optical marker is set at the proximal end of the intramedullary nail, and the second optical marker is set at the guide surface; the pose of the guide is obtained by tracking the second optical marker through the binocular camera; Wherein, a plurality of gratings are engraved in the optical fiber, and the optical fiber and the intramedullary nail are on the same central axis; The space positioning system for the locking hole at the distal end of the intramedullary nail is specifically used for: Before the intramedullary nail is inserted into the medullary cavity, the initial position of the distal locking hole of the intramedullary nail in the optical fiber global coordinate system is obtained, and the optical fiber global coordinate system is determined based on the proximal end of the intramedullary nail; After the intramedullary nail is inserted into the medullary cavity, the bending information of the optical fiber in the intramedullary nail is obtained through an optical fiber sensor demodulator, and the motion matrix of the distal locking hole is obtained according to the bending information; According to the initial position and the motion matrix, obtain the target pose of the distal locking hole after the intramedullary nail is inserted into the medullary cavity in the optical fiber global coordinate system; Based on the binocular camera, through the first optical marker and the second optical marker, the target pose and the guide pose are converted to the binocular camera coordinate system, and the distal end of the intramedullary nail is locked after being inserted into the medullary cavity The relative spatial positioning of the hole and the guide; the pose of the guide is obtained by tracking the second optical marker through the binocular camera, and the first optical marker is set on the intramedullary nail proximally, the second optical marker is disposed on a surface of the guide; The spatial positioning system for the locking hole at the distal end of the intramedullary nail is also used for: Obtain the bending curvature and wavelength change of each grating node in the optical fiber through the optical fiber sensor demodulator; Obtaining the curvature radius of each grating node according to the wavelength change amount and the bending curvature; Fitting is performed according to the curvature radius and distribution position of each grating node to obtain the motion matrix of the distal locking hole. 2. The spatial positioning system for the locking hole at the distal end of the intramedullary nail according to claim 1, wherein a catheter is arranged in the hollow inner core of the intramedullary nail, and the optical fiber is inserted and fixed through the catheter To the hollow inner core of the intramedullary nail, the optical fiber, the intramedullary nail and the catheter are on the same central axis. 3. The spatial positioning system for the locking hole at the distal end of the intramedullary nail according to claim 2, wherein a scale is provided at the proximal end of the catheter. 4 . The spatial positioning system for the locking hole at the distal end of the intramedullary nail according to claim 2 , wherein the proximal end of the catheter and the proximal end of the intramedullary nail are fixedly connected by a fixed connecting piece. 5 . The spatial positioning system for the locking hole at the distal end of the intramedullary nail according to claim 4 , wherein an elastic knob is arranged on the fixing connecting member. 6 . 6 . The spatial positioning system for the locking hole at the distal end of the intramedullary nail according to claim 1 , wherein the system further comprises a display, and the binocular camera is connected to the display in communication. 7. An electronic device comprising a memory, a processor and a computer program stored on the memory and operable on the processor, wherein the processor implements the following steps when executing the computer program: Before the intramedullary nail is inserted into the medullary cavity, the initial position of the distal locking hole of the intramedullary nail in the optical fiber global coordinate system is obtained, and the optical fiber global coordinate system is determined based on the proximal end of the intramedullary nail; After the intramedullary nail is inserted into the medullary cavity, the bending information of the optical fiber in the intramedullary nail is obtained through an optical fiber sensor demodulator, and the motion matrix of the distal locking hole is obtained according to the bending information; According to the initial position and the motion matrix, obtain the target pose of the distal locking hole after the intramedullary nail is inserted into the medullary cavity in the optical fiber global coordinate system; Based on the binocular camera, through the first optical marker and the second optical marker, the target pose and the guide pose are converted to the binocular camera coordinate system, and the distal end of the intramedullary nail is locked after being inserted into the medullary cavity The relative spatial positioning of the hole and the guide; the pose of the guide is obtained by tracking the second optical marker through the binocular camera, and the first optical marker is set on the intramedullary nail proximally, the second optical marker is disposed on a surface of the guide; After the intramedullary nail is inserted into the medullary cavity, the bending information of the optical fiber in the intramedullary nail is obtained through the optical fiber sensor demodulator, and the motion matrix of the distal locking hole is obtained according to the bending information, including : Obtain the bending curvature and wavelength change of each grating node in the optical fiber through the optical fiber sensor demodulator; Obtaining the curvature radius of each grating node according to the wavelength change amount and the bending curvature; Fitting is performed according to the curvature radius and distribution position of each grating node to obtain the motion matrix of the distal locking hole. 8. A non-transitory computer-readable storage medium on which a computer program is stored, wherein the computer program is executed by a processor to implement the following steps: Before the intramedullary nail is inserted into the medullary cavity, the initial position of the distal locking hole of the intramedullary nail in the optical fiber global coordinate system is obtained, and the optical fiber global coordinate system is determined based on the proximal end of the intramedullary nail; After the intramedullary nail is inserted into the medullary cavity, the bending information of the optical fiber in the intramedullary nail is obtained through an optical fiber sensor demodulator, and the motion matrix of the distal locking hole is obtained according to the bending information; According to the initial position and the motion matrix, obtain the target pose of the distal locking hole after the intramedullary nail is inserted into the medullary cavity in the optical fiber global coordinate system; Based on the binocular camera, through the first optical marker and the second optical marker, the target pose and the guide pose are converted to the binocular camera coordinate system, and the distal end of the intramedullary nail is locked after being inserted into the medullary cavity The relative spatial positioning of the hole and the guide; the pose of the guide is obtained by tracking the second optical marker through the binocular camera, and the first optical marker is set on the intramedullary nail proximally, the second optical marker is disposed on a surface of the guide; After the intramedullary nail is inserted into the medullary cavity, the bending information of the optical fiber in the intramedullary nail is obtained through the optical fiber sensor demodulator, and the motion matrix of the distal locking hole is obtained according to the bending information, including : Obtain the bending curvature and wavelength change of each grating node in the optical fiber through the optical fiber sensor demodulator; Obtaining the curvature radius of each grating node according to the wavelength change amount and the bending curvature; Fitting is performed according to the curvature radius and distribution position of each grating node to obtain the motion matrix of the distal locking hole.

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